基于改进合同网算法的异构多AUV协同任务分配

李 娟; 张昆玉

doi:10.11993/j.issn.2096-3920.2017.05.004

基于改进合同网算法的异构多AUV协同任务分配

doi: 10.11993/j.issn.2096-3920.2017.05.004

李娟,
张昆玉

哈尔滨工程大学自动化学院, 黑龙江哈尔滨, 150001

基金项目: 国家自然科学基金项目资助(51609046); 中央高校基本科研业务费专项资金资助(HEUCFM170403)

详细信息

作者简介:
李娟(1976-), 女, 副教授, 主要研究方向为船舶智能控制.

中图分类号: TJ630.1; TP242.6; TP393
计量
- 文章访问数: 631
- HTML全文浏览量: 11
- PDF下载量: 414
- 被引次数: 0
出版历程
- 收稿日期: 2017-05-13
- 修回日期: 2017-06-08
- 刊出日期: 2017-12-20

Heterogeneous Multi-AUV Cooperative Task Allocation Based on Improved Contract Net Algorithm

College of Automation, Harbin Engineering University, Harbin 150001, China

摘要

摘要: 传统合同网算法应用在异构多自主式水下航行器(AUV)协同任务分配时, 存在招标过程中多种招标者并存的情况, 不易产生有效招标者; 在投标过程中, 潜在投标者增加了无效投标数量及其招标者对投标结果的评估负担, 极易产生任务不合理的情况。针对以上2种问题, 文中提出了一种基于改进合同网算法的异构多AUV任务分配策略。该方法将任务负载率指标和令牌环网概念结合起来, 有效解决选择招标者及其任务不合理的问题。基于MATLAB的三维任务环境的仿真实验表明, 对于异构型多AUV进行任务分配, 文中提出的改进合同网算法能够有效提高整体效能并进行合理的任务分配。
- 异构多自主式水下航行器 /
- 任务分配 /
- 合同网算法 /
- 任务负载率指标 /
- 令牌环网
Abstract: When traditional contract net algorithm is applied to heterogeneous multi-AUV collaborative task allocation, co-existence of a variety of bid inviters occurs in bid winning process, leading to difficulty for producing effective inviter, while in bidding process, potential bidders raise the number of invalid bids, and hence increase burden on the inviter for evaluating the bid, which is easy to result in unreasonable tasks. Aiming at the above two problems, this paper proposes a heterogeneous multi-AUV task allocation strategy based on improved contract net algorithm. This strategy combines the task load rate and the token ring network to solve the problems of selecting bid inviter and its unreasonable task. Three-dimensional environment simulation based on MATLAB shows that the improved contract net algorithm can effectively enhance the overall performance and make reasonable task allocation scheme for task allocation of heterogeneous multi-AUV.
- heterogeneous multi-autonomous undersea vehicle /
- task allocation /
- contract net algorithm /
- task load rate /
- token ring network

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